Storage systems and methods

ABSTRACT

A storage system is described where goods are stored in containers and the containers are stored in stacks. Above the stacks runs a grid network of tracks on which load handling devices run to lift containers from the stacks and deposit them at alternative locations in the stacks or at stations where goods may be removed or alternative functions may be undertaken. The containers can provide the following exemplary services: power, power control, heating, lighting, cooling, sensing, and data logging. The provision of these services within individual containers rather than across the system as a whole, allows for flexibility in storage whilst reducing cost and inefficiency. The containers when removed from the stacks are electrically connected to the load handling device, power being supplied by a power supply within the load handling device.

The present invention relates to storage systems. More specifically butnot exclusively, it relates to a storage system having storage bins orcontainers in stacks and robots operating above the stacks to pick,move, remove, or replace containers.

This application claims priority from UK Patent Application NoGB1617727.1 filed on 19 Oct. 2016, the entire content of which is herebyincorporated by reference.

This application relates to UK Patent Publication Nos. GB 2541766, GB2540651, GB 2541055, GB 2541765, and GB 2540838 all filed 15 Apr. 2016and having priority dates of 15 Apr. 2015, the content of all theseapplications hereby being incorporated by reference.

Some commercial and industrial activities require systems that enablethe storage and retrieval of a large number of different products. Oneknown type of system for the storage and retrieval of items in multipleproduct lines involves arranging storage containers or containers instacks on top of one another, the stacks being arranged in rows. Thestorage containers or containers are accessed from above, removing theneed for aisles between rows and allowing more containers to be storedin a given space.

In known storage and retrieval systems, the containers are passive andexist simply to hold the goods. Whilst the identity of a given containermay be known and linked to its contents by barcoding for example, thecontainers in the system have no active components or on boardintelligence.

In shipping container systems, the containers comprise monitoring andcontrolling systems to, for example, containers that chill the contents,containers that comprise gas monitoring systems, for example, to monitorfor fruit ripening and containers that comprise locating means to enableindividual containers to be tracked and traced in port.

Methods of handling containers stacked in columns and rows have beenwell known for decades. In some such systems, for example as describedin U.S. Pat. No. 2,701,065, to Bertel comprise free-standing stacks ofcontainers arranged in rows in order to reduce the storage volumeassociated with storing such containers but yet still providing accessto a specific container if required. Access to a given container is madepossible by providing relatively complicated hoisting mechanisms whichcan be used to stack and remove given containers from stacks. The costof such systems are, however, impractical in many situations and theyhave mainly been commercialised for the storage and handling of largeshipping containers.

The concept of using freestanding stacks of containers and providing amechanism to retrieve and store specific containers has been developedfurther, for example as described in EP 0 767 113 B to Cimcorp. '113discloses a mechanism for removing a plurality of stacked containers,using a robotic load handler in the form of a rectangular tube which islowered around the stack of containers, and which is configured to beable to grip a container at any level in the stack. In this way, severalcontainers can be lifted at once from a stack. The movable tube can beused to move several containers from the top of one stack to the top ofanother stack, or to move containers from a stack to an externallocation and vice versa. Such systems can be particularly useful whereall of the containers in a single stack contain the same product (knownas a single-product stack).

In the system described in '113, the height of the tube has to be asleast as high as the height of the largest stack of containers, so thatthat the highest stack of containers can be extracted in a singleoperation. Accordingly, when used in an enclosed space such as awarehouse, the maximum height of the stacks is restricted by the need toaccommodate the tube of the load handler.

EP 1037828 B1 (Autostore) the contents of which are incorporated hereinby reference, describes a system in which stacks of containers arearranged within a frame structure. A system of this type is illustratedschematically in FIGS. 1 to 4 of the accompanying drawings. Robotic loadhandling devices can be controllably moved around the stack on a systemof tracks on the upper most surface of the stack.

Other forms of robotic load handling device are further described in,for example, Norwegian patent number 317366, the contents of which areincorporated herein by reference.

FIGS. 3a and 3b are schematic perspective views of one form of a loadhandling device suitable for use in a robotic picking system from therear and front, respectively, and FIG. 3c is a schematic frontperspective view of the load handling device of FIGS. 3a and 3b liftinga bin or container.

A further development of load handling device is described in UK PatentApplication No 1314313.6 (Ocado Innovation Ltd) where each robotic loadhandler only covers one grid space, thus allowing higher density of loadhandlers and thus higher throughput of a given size system.

In such known storage systems a large number of containers are stackeddensely. The contents of the containers may degrade, may requirelighting, heating or cooling, or may need some form of monitoring orcontrol not currently provided by known systems.

According to the invention there is provided a storage systemcomprising: a first set of parallel rails or tracks and a second set ofparallel rails or tracks extending transverse to the first set in asubstantially horizontal plane the rails forming a grid patterncomprising a plurality of grid spaces; a plurality of storage containersarranged in stacks, located beneath the rails each stack being locatedwithin the footprint of a grid space and; at least one load handlingdevice disposed on the grid, arranged to move laterally above the stackson the rails, the load handling device comprising a lifting devicearranged to lift one or more containers, or parts thereof, from a stack;wherein a number of the containers comprise service means for providingservices to the or each container thereby enabling individual containerswithin the stacks to perform additional functions, the lifting devicecomprising releasably connecting means for connecting a load handlingdevice to the container to be lifted, the electrically connecting meansacting so as to maintain power, or data or signal or other services tothe container when being lifted from a stack within the storage system.

According to the invention there is further provided a method ofmaintaining services to a container within a storage system, the methodcomprising the steps of positioning a load handling device above acontainer to be removed from the system, lowering lifting means from theload handling device, said lifting means comprising connecting means,releasably connecting to the container, lifting the container from thestorage system, and maintaining the connection of power, or data orsignal or other service to the container via the load handling device.

Advantageously, in accordance with one form of the invention, individualcontainers within the storage system may be provided with services, inaddition to or in place of goods, yet may be removed from the systemwithout loss of data or information stored within the container due toremoval of power supplied via, for example the uprights of the storagesystem.

Furthermore, individual containers within the storage system may notcontain goods but may contain services for provision to other containersor to monitor or control the condition of the system and in this way theintegrity of the data contained therein is protected.

In this way, depending on the services provided in individualcontainers, the contents may be continually powered and data flowbetween containers maintained such that control or monitoring ofcontainers within the system, or data relating to the system storedwithin memory or processing means within the system, is maintained.

Furthermore, services and conditions within the containers may bemaintained, for example temperature, moisture, lighting or otherparameters, as the power and data connections to the container aremaintained by virtue of the electrical and or data connections to theload handling device lifting and carrying the container. Controlfunctions may be provided either by a local control system in the bin orby a central system sending signals to actuators in the containers.Moreover, control and monitoring may be achieved for peer to peercommunication via wireless or other means, between non-adjacentcontainers. The data transmitted may provide information on thecondition of the bin, the contents of the bin or may provide informationon adjacent containers to condition monitor the entire storage system.Furthermore, in this way, the containers may be heated or cooled asrequired by the specific contents of the bin. All of these services,data and control ability is maintained upon removal of the containerfrom the stack for whatever reason.

In this way, the present invention overcomes the problems of the priorart and provides a system and method of increasing the reliability andreducing the overall cost of large bin handling storage systems in whichthe containers comprise services, memory means or processing means.

The invention will now be described with reference to the accompanyingdiagrammatic drawings in which:

FIG. 1 is a schematic perspective view of a frame structure for housinga plurality of stacks of containers in a storage system;

FIG. 2 is a schematic plan view of part of the frame structure of FIG.1;

FIGS. 3(a) and 3(b) are schematic perspective views, from the rear andfront respectively, of one form of robotic load handling device for usewith the frame structure of FIGS. 1 and 2, and FIG. 3(c) is a schematicperspective view of the known load handler device in use lifting a bin;

FIG. 4 is a schematic perspective view of a known storage systemcomprising a plurality of load handler devices of the type shown inFIGS. 3(a), 3(b) and 3(c), installed on the frame structure of FIGS. 1and 2, together with a robotic service device in accordance with oneform of the invention.

FIGS. 5a and 5b are schematic perspective views of one form ofcontainer, FIG. 5a showing a view of one side and FIG. 5b showing theopposite side view of the same container, the container comprisingservices and utilities connected via connection means, the connectionmeans being supplied via routing means located on at least one side ofthe container;

FIGS. 6a and 6b are schematic perspective views of another form ofcontainer, the container comprising lighting means and fluid supplymeans;

FIG. 7a shows an expanded view of the connector means on the containerof FIG. 5 a;

FIG. 7b shows an expanded view of the routing means on the container ofFIG. 5 b;

FIGS. 8a, 8b and 8c are schematic perspective views of a container, thecontainer comprising lighting means in the container or a part thereof;

FIG. 9 is a schematic perspective view of a stack of the containers ofFIGS. 6a and 6b showing the connectors on the containers cooperatingwhen the containers are stacked in a stack;

FIG. 10 is a schematic perspective view of the stack of containers ofFIG. 9, the containers being located within a framework of one form of astorage and retrieval system, the connectors further connecting tosupply means located in the base of the storage and retrieval system;

FIG. 11 is a schematic perspective view of the connections between thebase of the storage and retrieval system and the bottom container withina stack;

FIG. 12 is a schematic perspective view of a container, the containercomprising fluid supply means and further comprising a fluid reservoir;

FIG. 13 is a schematic perspective view of a container comprising aplurality of smaller containers, each of the smaller containerscomprising a given service connectable via the connection means locatedon at least one side of the container;

FIG. 14 is a schematic perspective view of a load handling device inaccordance with one form of the invention, the load handling devicecomprising lifting means, the lifting means further comprisingreleasable connecting means, the connecting means comprising means forelectrically connecting the container to a power supply located in or onthe load handling device;

FIG. 15 is an expanded schematic perspective view of the lifting meansof FIG. 14 showing in more detail, one form of electrically connectingmeans for electrically connecting the container to the load handlingdevice;

FIG. 16 is a schematic perspective view of a portion of the storagesystem showing a number of stackable containers in situation within theuprights of the storage system, each of the containers beingelectrically connected to the container immediately above and or below,the containers at the bottom of each stack being electrically connectedto a power source located within the storage system, said connectionsbetween containers or between containers and the base of the systembeing releasable when the lifting device of the load handling device isconnected;

FIG. 17 is a schematic perspective view of the portion of the system ofFIG. 16, showing a lifting device in accordance with one form of theinvention, the lifting device being in position and connected to the topmost container of one of the stacks of containers within the storagesystem, power and/or signal connections being provided to the loadhandling device via a daisy-chain like cable; and

FIG. 18 is a schematic perspective view of the portion of the system ofFIGS. 16 and 17, showing a lifting device in accordance with one form ofthe invention, lifting a container from the stack of containers, thecontainer being lifted, being electrically connected to the loadhandling device via a suitable cable.

As shown in FIGS. 1 and 2, stackable containers, known as bins 10, arestacked on top of one another to form stacks 12. The stacks 12 arearranged in a frame structure 14 in a warehousing or manufacturingenvironment. FIG. 1 is a schematic perspective view of the framestructure 14, and FIG. 2 is a top-down view showing a single stack 12 ofbins 10 arranged within the frame structure 14. Each bin 10 typicallyholds a plurality of product items or good (not shown), and the productitems within a bin 10 may be identical, or may be of different producttypes depending on the application.

The frame structure 14 comprises a plurality of upright members 16 thatsupport substantially horizontal members 18, 20. A first set ofsubstantially parallel substantially horizontal members 18 is arrangedperpendicularly to a second set of substantially parallel substantiallyhorizontal members 20 to form a plurality of horizontal grid structuressupported by the upright members 16. The members 16, 18, 20 aretypically manufactured from metal. The bins 10 are stacked between themembers 16, 18, 20 of the frame structure 14, so that the framestructure 14 guards against horizontal movement of the stacks 12 of bins10, and guides vertical movement of the bins 10.

The top level of the frame structure 14 includes rails 22 arranged in agrid pattern across the top of the stacks 12. Referring additionally toFIGS. 3 and 4, the rails 22 support a plurality of robotic load handlingdevices 30. A first set 22 a of parallel rails 22 guide movement of theload handling devices 30 in a first direction (X) across the top of theframe structure 14, and a second set 22 b of parallel rails 22, arrangedperpendicular to the first set 22 a, guide movement of the load handlingdevices 30 in a second direction (Y), perpendicular to the firstdirection. In this way, the rails 22 allow movement of the load handlingdevices 30 in two dimensions in the X-Y plane, so that a load handlingdevice 30 can be moved into position above any of the stacks 12.

Each load handling device 30 comprises a vehicle 32 which is arranged totravel in the X and Y directions on the rails 22 of the frame structure14, above the stacks 12. A first set of wheels 34, consisting of a pairof wheels 34 on the front of the vehicle 32 and a pair of wheels 34 onthe back of the vehicle 32, are arranged to engage with two adjacentrails of the first set 22 a of rails 22. Similarly, a second set ofwheels 36, consisting of a pair of wheels 36 on each side of the vehicle32, are arranged to engage with two adjacent rails of the second set 22b of rails 22. Each set of wheels 34, 36 can be lifted and lowered, sothat either the first set of wheels 34 or the second set of wheels 36 isengaged with the respective set of rails 22 a, 22 b at any one time.

When the first set of wheels 34 is engaged with the first set of rails22 a and the second set of wheels 36 are lifted clear from the rails 22,the wheels 34 can be driven, by way of a drive mechanism (not shown)housed in the vehicle 32, to move the load handling device 30 in the Xdirection. To move the load handling device 30 in the Y direction, thefirst set of wheels 34 are lifted clear of the rails 22, and the secondset of wheels 36 are lowered into engagement with the second set ofrails 22 a. The drive mechanism can then be used to drive the second setof wheels 36 to achieve movement in the Y direction.

In this way, one or more robotic load handling devices 30 can movearound the top surface of the stacks 12 on the frame structure 14 underthe control of a central picking system (not shown). Each robotic loadhandling device 30 is provided with means for lifting out one or morebins or containers from the stack 12 to access the required products. Inthis way, multiple products can be accessed from multiple locations inthe grid and stacks at any one time.

It will be appreciated that if the required container 10 is not at thetop of the stack 12, if each load handling device can only carry asingle container 10 then multiple load handling devices will need toco-operate in order to access the target container 10.

FIG. 4 shows a typical storage system as described above, the systemhaving a plurality of load handling devices 30 active on the stacks 12in order to co-operate to retrieve and replace containers 10 from and tothe stacks 12. Unwanted containers 10 removed from stacks 12 in thepursuit of a target container 10 are placed back in to the stacks 12 atvacant positions.

FIGS. 1 and 4 show the bins 10 in stacks 12 within the storage system.It will be appreciated that there may be a large number of bins orcontainers in any given storage system and that many different goods maybe stored within the bins or containers in the stacks 12, each bin orcontainer may contain different goods within a single stack 12 orsimilar goods may be stored in bins or containers 10 in a given stack ormultiple different inventory items or goods may be stored in anindividual container 10. Whilst the above described system was conceivedto store and retrieve groceries in an online shopping e-commercesolution, it will be appreciated that other uses are envisaged and thatother items such as parcels and letters may be stored in the containers10.

Preferably in a first embodiment of the invention, the bins orcontainers comprise memory or processing means or the like. It will beappreciated that all of the bins or containers may comprise memory orprocessing means. Alternatively only a portion of the bins or containersmay comprise memory or processing means. It will be appreciated thatmemory or processing means may comprise computer means or any othermeans suitable for performing mathematical or computational functions.

FIGS. 5a and 5b show one form of suitable container, the container 10,being capable of being held in stacks by co-operating surfaces forminginterference fits between adjacent containers 10. The container 10 ofFIGS. 5a and 5b , additionally comprises connection means 40 at theco-operating surface where containers will cooperate in order to form astack 12 of containers 10. The connection means 40 shown in FIGS. 5a and5b comprises a push fit male connector 40 located at the top edge of thecontainer 10. The bottom edge of the container comprises a femaleconnector. The two containers are linked by routing means that may formpart of the container 10 as mouldings or may be pipes, cables, wires orother routing means mounted on the surface of the side of the container10. It will be appreciated that this form of connector means and routingmeans is one form only of connector and routing means that may be used,any suitable form of releasable connector means capable of latching orconnecting and unlatching or disconnecting as required on movement ofthe container in or out of the stack 12.

For example, the connection means 40 may comprise electricallyconductive layers deposited on the co-operating surfaces of thecontainers 10 or may comprise sprung-loaded contacts or springs ascontacts or any other connection means capable of carrying power, dataor other signals between two or more containers 10. Non-contactingmethods of power transmission may also be used, for example magneticinduction or RF induction and optical methods. Furthermore, theconnection means 40 may comprise carbon loaded rubber contacts capableof carrying signals or data between two or more co-operating containers10 in a stack.

Whilst the containers may be held in stacks 12 by interference means orby adjacent containers 10 having shaped, co-operating surfaces,containers 10 may be latched together via suitable latching means (notshown). The latching means may act to releasably latch two or morecontainers 10 together in the stack 12. The latching means must becapable of remote operation in order that the load handling means maylift individual containers 10 or a plurality of containers 10 latchedtogether. Any form of remotely latching and unlatching means may beused. For example electromagnetic latching means or any other meanssuitable to perform the function.

FIGS. 5a and 5b further show an individual bin 10 comprising powersupply means 42 for supplying power to, for example, heating means 56,cooling means 58, data logging means 44, communication means 46 and/orlighting means 60 in FIGS. 6a and 6b . The bin 10 further comprisespower control means 43 for controlling the power to the or each serviceand controlling the power to other containers 10 in the stack 12, ifpower is to be transmitted to adjacent containers 10 in the stack 12. Itwill be appreciated that containers 10 comprising power control andcontrol means may power heaters 56, coolers 58, lights 60 or any otherservice requiring power. Anything requiring power may utilise the powersupply means 42. The power supply means may comprise batteries or maycomprise means for transmitting power from an external power sourcethrough connection means 52 on the containers 10 from the base of thestorage system or via the uprights 16 of the grid.

Furthermore, power, data or any other signals may be supplied to thecontainers 10 in the stacks 12 via power and or data connectors locatedin the floor of the warehouse. Power may be transmitted up the stacks 12via the contacts 52 in the co-operating surfaces of the containers 10.Moreover, services may flow up stacks 12 of containers 10 from thefloor, for example cooling or heating fluids may be utilised in thismanner.

FIGS. 5a and 5b further show an individual bin 10 comprising at leastdata logging means 44 and communication means 46 for transmitting datarecorded to a remote central data logging device. The data logging means44 comprises sensors suitable for monitoring the conditions in the bin10, for example the temperature, any gas emission, for example as aresult of decomposing fruit, and humidity. The data logging means 44 andcommunicating means 46 enable the content and condition of individualcontainers 10 to be monitored.

Furthermore, knowing information about specific containers 10 in thestacks 12 in the system enables the condition of the storage system as awhole to be monitored. Whilst the bins or containers 10 per se may beanonymous, a unique identity may be assigned to each bin or container 10in the storage system. In this way, the location of each bin orcontainer 10 (and by association its contents) may be trackable andidentifiable by the system via the communications means. In this way,the topology of the bins or containers 10 can be constructed as a resultof each bin or container 10 having knowledge of the identity of theimmediately adjacent bins or containers 10 and the bottom bin orcontainer 10 in any stack having knowledge that there are no containers10 below.

It will be appreciated that any type and method of communication may beused, for example WFi, Bluetooth, 3-wire serial, SigFox or otherproprietary systems such as that described in UK Patent Application No.GB1509793.4 to Ocado Innovation Limited, the contents of which in herebyincorporated by reference. It will be appreciated that any othersuitable communications means or protocol may be used.

FIGS. 5a and 5b further show an individual container 10 from the stack12, the container 10 comprising heating 56 and/or cooling means 58 andtemperature monitoring means 50 for monitoring the temperature in thebin 10. The heating means 56 may comprise flow of hot fluid via directmeans, for example hot air, or indirect means, for example radiatormeans or may further comprise electrical heaters or electromagneticinduction heaters.

The cooling means 58 may comprise Peltier coolers or may comprise flowof cold fluid via direct means, for example cold air or via indirectmeans, for example radiator means, including ice slurry compressordriven.

In these ways, the temperatures of individual containers 10 may bemonitored, controlled and varied depending on the content of theindividual bin 10. If the contents of the bin need to be chilled orfrozen, then the individual bin can have a temperature of 5 degrees C.maintained, for chilled, and lower for frozen, rather than requiring aportion of the stacks 12 in the storage system to be maintained at apredetermined temperature by space heaters and coolers.

It will be appreciated that these are examples only and any suitableform of heater or chiller may be used to achieve the desired effect. Thebins or containers 10 may be designed and arranged such that each bin orcontainer 10 is sealed, for example in an airtight fashion, by the binor container 10 located above. The top bin or container 10 in each stack12 may be provided with a lid, not shown, to seal the top bin orcontainer 10. Sealing the bins or containers 10 in this fashion enablesthe temperature within an individual bin or container to be more easilycontrolled by suitable heating or cooling means.

FIGS. 6a and 6b show an alternative form of the bin or container 10comprising lighting means 60 and fluid supply means 72. The sameconnectors 40 and 17 may be used to route power to the lighting means 60or water, for example to the fluid supply means 72.

FIGS. 7a and 7b show and expanded view of the male connector 40 and thefemale connector 17 located on or in the side of the bin or container10. FIGS. 7a and 7b show one example only of the connection means thatmay form the connections between adjacent bins or containers 10 in astack 12 of containers 10 in detail.

FIG. 8 shows three examples of an individual bin or container 10 fromthe stack 12, the bin or container 10 comprising lighting means. Thelighting means 60 may be provided in the base of a bin to light the bin10 below. Alternatively the lighting means 60 may comprise a lid 62containing suitable bulbs, LEDs or any other suitable form of lighting.The lid 62 may be removeably attached to the bin 10 and fold away duringremoval of the bin 10 from the stack 12. Again the power supply to thelighting means 60 is supplied via the connector means 40 and 17 locatedon the container 10.

FIG. 9 shows a stack 12 of bins or containers 10 shown in FIG. 8. Thebins or containers 10 comprise fluid supply means and lighting means 60.The connectors 40 and 17 cooperate together to connect each bin orcontainer 10 the bin or container 10 immediately above and below. Inthis way, services such as power, to power the lighting means 60 orwater to irrigate the contents of an individual container 10 may berouted through the containers in the stacks 12.

FIG. 10 shows a portion of the framework 14 of the storage systemcomprising a plurality of bins or containers 10 located therein, thebins or containers 10 carrying services upwardly through the framework14 of the system by wires, cables or pipes or any other suitable means17. As can be seen in more detail in FIG. 10, the bottom bin orcontainer 10 in the stack 12 connects to supply means routed through thebase of the storage system via connectors 72. It will be appreciatedthat the supply means in the base may be located in a false base 76 ofthe system as shown in FIG. 10 but may otherwise be routed under thefloor of the building comprising the storage system or may be routed viaother means.

FIG. 11 shows the connection means between a stack 12 of bins orcontainers 10 and the supply means in the base 76 of the system in moredetail. It will be appreciated that this is one example only of asuitable connection means and that any connector system of releasablyconnecting bins or containers 10 to power, data, electrical, lighting,telecommunications or any other supply or service may be envisaged.

FIG. 12 shows yet another form of individual bin or container 10 inaccordance with the invention from a stack 12, the bin or container 10comprising fluid supply means 72 and further comprising a fluidreservoir 74. The contents of the bin or container 10 may require waterto be supplied thereto. Accordingly, the bin or container 10 is providedwith a reservoir 54 that may be filled with a liquid or gas. In order tofill the reservoir 74, the bin or container 10 may be removed from thestack 12 by the robotic load handling device and taken to a location inthe system where the reservoir can be topped up as required.Alternatively, the required fluids may be routed to specific containers10 via the uprights 16 of the grid system.

FIG. 13 shows a further embodiment of the invention in which a bin orcontainer 100 comprises a plurality of smaller bins or containers 110,each of the smaller bins or containers 110 comprising a given serviceconnectable via the connection means 17, 40 located on at least one sideof the bin or container 10.

In use, the storage system described above with reference to theFigures, comprises a large number of bins or containers 10 arranged instacks 12. In one example, the storage system comprises bins orcontainers 10 of different categories dispersed within the system. Forexample, there may be empty bins or containers 10, bins or containers 10containing goods to be stored, bins or containers containing servicessuch as power supplies or communications means or data transfer means ordata storage means, bins or containers 10 capable of heating, bins orcontainers 10 capable of cooling, bins or containers 10 comprising goodsrequiring liquids and/or light. It will be appreciated that some or allof the bins or containers 10 may contain one or more of the services ordevices referred to above. For example a bin or container 10 with areservoir 54 may also be provided with lighting means 60.

The provision of data logging and condition monitoring means in bins orcontainers 10 within the stacks 12, enables a map of the condition andtopography of the system to be generated that would not otherwise bepossible unless specific bins or containers 10 were removed andexamined. Furthermore, inclusion of camera means within a number of binsor containers 10 allows for containers to be moved around the system toinspect the condition of the grid and or other bins or containers 10.

Furthermore, providing services to specific individual bins orcontainers 10 either via the uprights 16 or via bin-to-bin contacts,enables goods having different requirements to be stored within the samestorage system without resorting to portioning the system and separatinggoods with different requirements in to separate sections of the grid.

Additionally, connections between bins or containers 10 andcommunications between containers 10 and stacks 12 generates a knowledgebase of the storage system in real time that will assist in the event ofa power outage for example, that will aid in possible disaster recovery.The alternative would be to empty all the containers and rebuild thestack which would be inefficient and costly.

The system described above has many varied uses. The foregoingdescription provides details of specific controlling and monitoringservices that may be used in some of the following circumstances. Somenon-limiting examples, in accordance with aspects of the invention, ofapplications for smart bin or container 10 systems may include, but arenot limited to the following:

A bin or container 10 comprising temperature sensing means may be usedto monitor the temperature in chilled, frozen or ambient sections of thestorage system. For example, an increase in the temperature in anambient portion of the system could result in chocolate melting orignitables igniting. This may be a particular problem in the summermonths in warmer climates.

A bin or container 10 comprising camera means maybe used to monitor thecondition of the grid and other bins or containers 10 in the stacks 12.The robotic load handling devices 30 may be used to move the bins orcontainers 10 around the storage system to inspect portions of thesystem or other bins or containers 10 or stacks 12 as required. This maybe relevant if there have been spillages in the system or other issueswith the integrity of the system, grid or bins or containers.

A bin or container 10 identification means within each individualcontainer 10 together with communications means between bins orcontainers 10 or stacks 12 may be used to create a topological profileof the storage system, where peer-to-peer identity is possible. In theevent of a catastrophic failure of the systems controlling the stacks,the topological information may be used to create a disaster recoverysituation.

Individual bins or containers 10 may be provided with lighting means 60,for use in conjunction with monitoring and camera means in order toassist in inspection of individual bins or containers 10 or the systemas a whole. Furthermore, contents of the bins or containers 10 maybenefit from lighting of specific wavelengths or a range of wavelengths.For example, under ripe fruit may be brought on using appropriatelighting. Additionally, it may be possible to use bins or containers 10for cultivation purposes.

The storage bins or containers 10 may be provided with sensors to detectgas, smoke, fire or heat, the sensors activating sprinkler systems toput out any fire.

Should the storage system be used, for example, to store cars in amechanised car park, as described in UK patent publication numberGB2540838, the contents of which is incorporated herein by reference,sensors detecting fire or smoke may activate sprinklers andcommunication means may be provided to directly communicate with acentral monitoring system or directly to the emergency services.

A bin or container 10 comprising gas sensing means may be used tomonitor the condition of fruit in a chilled portion of the system.Ripening fruit give off gases so monitoring for these specific gases mayprovide an indication of over ripening fruit in storage. Should this bedetected, containers 10, having cooling means within the bin may becooled to prevent over ripening of the contents.

Should the bins or containers 10 be used for storing alternative goodssuch as parcels, the bins or containers 10 may contain weighing meanssuch as scales to monitor the weight of parcels in storage before onwarddistribution.

It will be apparent from the preceding description that all the bins orcontainers 10 comprising services of some form will require power, dataor signal connections to be carried to the services or devices withinthe bin or container 10. As described above, electrical connections 40between bins or containers 10 or between the bottommost bin or container10 of a stack may be of any suitable form, such as interferenceconnections or any other suitable releasable connector capable ofcarrying the required power, data or signal between bins or containers10 or a bin or container 10 and the base of the system or an uprightwithin the system.

In one embodiment of the invention, the bins or containers 10 compriseintelligence means such as routers, calculators or servers (not shown).The intelligence means may communicate via peer to peer communicationsacross the bins or containers 10 in the system. Furthermore, thecommunications may occur via contactless light through aircommunications, however any other suitable means for communicationbetween the containers 10 may be envisaged and used.

The intelligence means may be powered and controlled by suitable powersupply means and power control means such as those means describedabove.

Utilising the proximity of the bins or containers 10 provides a systemhaving relatively short communication distances between the intelligencemeans located in the bins or containers 10. The relatively shortdistances reduce latency between the intelligence means, the systembeing capable of fast and powerful operation.

Such a system may require extensive cooling. Such cooling means may beprovided as described above or via cooling means being passed up theuprights 16 of the framework 14 from the base of the system.

Should a bin or container 10 require removal from a stack 12 within theframework 14, it will be appreciated that loss of data, signal, poweretc could occur when the bin or container 10 is removed from the top ofthe stack 12, from within the stack 12 or from the bottom of the stack12. This is simply because as described above, the bins or containers 10take their power from the base of the stack 12 and from under thestorage system via the connectors 70 in the base and the connectors 40within the stacks 12. Bins or containers 10 may require removal from thestacks 12 for repair reasons, redistribution reasons and to enable thesystems or services within a given bin or container 10 to be changed andfor many other reasons.

In order to facilitate movement of the bins or containers 10 around thestorage system or to enable removal of any given bin or container 10completely, it may be necessary to provide power, data, signal or anyother services to the individual bin or container 10 when it is in theprocess of removal or movement and hence disconnection from any serviceprovided via the framework 14 or from the base of the storage system asdescribed above.

As shown in FIG. 14, in accordance with one form of the invention, theload handling device 30 comprising lifting means 39, the lifting means39 further comprising releasable connecting means 40, the connectingmeans 40 comprising means for electrically or otherwise connecting thebin or container 10 to a power supply or other service (not shown)located in or on the load handling device 30.

The lifting device 39 of the load handling device 30 is provided withcable 80 and connection means 40 suitable for releasably connecting tothe bin or container 10. The cable 80 performs the function of anumbilical, connecting a power, data or signal source in the loadhandling device 30 via the releasable connecting means 40 to thecontainer 10. FIGS. 14 and 15 show one form that the connections maytake. However, it will be appreciated that any form of suitableconnector 40 may be used capable of carrying power or signals orservices as appropriate. The cable 80 may be any suitable form of cablecapable of carrying the services required. Furthermore, it will beappreciated that the cable 80 may perform multiple functions, forexample connecting a power source to the bin or container 10 andcarrying data signals to a data storage device carried within the loadhandling device.

Furthermore, the load handling device 30 may be utilised a means fordownloading data from a bin or container 10 without removing the bin orcontainer 10 from the system.

FIG. 15 is an expanded schematic perspective view of the lifting meansof FIG. 14 showing in more detail, one form of electrically connectingmeans 40 for electrically connecting the container to the load handlingdevice 30.

In this way a make before break system is provided to enable removal ofbins or containers 10 from stacks 12 within the system.

FIGS. 16 to 18 demonstrate the use of the make before break connectionsystem. FIG. 16 shows a portion of the storage system showing a numberof stackable bins or containers 10 in situation within the uprights 14of the storage system, each of the bins or containers 10 being at leastelectrically connected to the bin or container 10 immediately above andor below as appropriate, the bins or containers 10 at the bottom of eachstack 12 being electrically connected to a power source (not shown)located within the storage system, said connections between bins orcontainers 10 or between bins or containers 10 and the base of thesystem being releasable when the lifting device 39 of the load handlingdevice 30 is connected. It is important to note that the lifting device39 will connect to the bin or container 10 and establish a connectionbetween the load handling device 30 power source and the bin orcontainer 10 before the bin or container 10 is disconnected from the binor container 10 to which it is electrically connect beneath.

In use, the connection between the bin or container 10 to be removed andthe load handling device 30 will be verified before the bin or container10 is moved from the stack 12. This verification may be conducted bymonitoring load on the load handling device 30 power supply for exampleor by any other suitable means.

FIG. 17 shows the lifting device 39 being positioned and connected tothe top most bin or container 10 of one of the stacks 12 of bins orcontainers 10 within the storage system, power and/or data and/or signalconnections being provided to the load handling device 30 via adaisy-chain like cable 80. As described above it will be appreciatedthat the cable 80 may take any suitable form and need not be limited tothe form of cable 80 shown in the diagrams. It is sufficient for anysuitable form of cable 80 to be used capable of carrying the power, dataor signals required between the load handling device 30 and the bin orcontainer 10. In use, the load handling device 30 is positioned above abin or container 10 to be removed. The lifting device 39 is lowered viasuitable motor and tape means 38 down from the load handling device 30.The lifting device 39 releasably engages with the target bin orcontainer 10. Once the connection between the bin or container 10 andthe load handling device 30 is established, the bin or container 10 islifted in to the load handling device 30.

It will be appreciated that if the bin or container 10 is connectedmechanically to the bin or container 10 immediately beneath in the stack12, some form of interlock release signal may be required to separatethe mechanical connections. In the example above, where the electricalconnections between the bins or containers 10 are interference orfriction connections only, it will be sufficient for the lifting device39 of the load handling device 30 to disconnect the bins or containers10 from each other by force alone. However, other automaticallytriggered disconnection means may be required.

FIG. 18 shows a lifting device 39 in accordance with one form of theinvention, lifting a bin or container 10 from the stack 12 of bins orcontainers 10, the bin or container 10 being lifted, being electricallyconnected to the load handling device 30 via a suitable cable 80 asdescribed above.

In use, each bin or container 10 comprising the intelligence means,calculator or server may be connected with at least its six neighboursvia optical channels. For example, using slightly transparent mirrors,each calculator could transmit or receive into this channel withoutdisturbing any other traffic, for example, using wavelength divisionmultiplexing. In this way, each node could have a speed of light,exactly defined latency, connection to every other node in the system.

For example, such communications means may comprise laser basedtransmission through air. However, other communication means may beprovided, for example connection of the servers or calculators by fibreoptic tentacles extending to make contact with neighbours.

For example for 100,000 containers 10, each comprising powerfulintelligence means, may be combined in to a machine in a stack 60×60 and28 tall in a 14 k sq ft space. Or 1 million containers in a 200×160grid, 33 tall in a 125 k sq ft building.

It will be appreciated that there are numerous applications that maybenefit from this instantaneous and defined node to node connectivity.For example, flow simulations and the like for aircraft design, weatherforecasting or climate models, financial trading calculations, proteinsynthesis calculation and simulations of chemical reactions with wholeorganisms may advantageously benefit from such large, densely packedintelligence means. However, it will be appreciated that these examplesare given for example only and are not limiting.

It will further be appreciated that individual bins or containers 10 maybe provided with one service, a selection of services or all servicesdescribed. Furthermore, the services listed should not be regarded aslimiting. Any form of service that is capable of being carried ortransmitted to a bin or container 10 may be envisaged.

Furthermore, although the embodiments of the invention described above,and shown in the Figures, detail systems in which the bins or containers10 are all of a substantially identical size and shape, it will beappreciated that this need not be the case. As described in UK PatentPublication No. GB 2528573 claiming priority from UK Patent ApplicationNo 1506364.7 filed 15 Apr. 2015, incorporated herein by reference, itwill be appreciated that such a system may be configured to handle binsor containers 10 of multiple sizes by use of load handling devices 30 ofdiffering sizes capable of lifting and moving containers 10 of multiplesizes.

Moreover, the embodiments described above and detailed in theaccompanying figures assume that the storage system comprises bins orcontainers 10 in stacks 12 disposed within a framework 14 in anunfettered manner. It will be appreciated that the system may bepartitioned by suitable partitioning means into smaller sub sectionsdefined by, for example temperature. In this way it would be possible tohave an ambient portion, a chilled portion and a frozen portion forexample. It will also be appreciated that the partitioning may haveadditional advantages, for example, partitioning enables sections of thestorage system to be isolated from other sections. This may be necessaryif there is a fire, for example, and fire suppressant means are used ina given area to extinguish the fire. Furthermore, in the case where thesystem is used for alternative uses, there may be advantages in havingdifferent gaseous atmospheres in different portions of the system. Thismay be achieved by partitioning the system. It will be appreciated thatthe partitioning means may be temporary and remotely deployable, forexample roller shutters disposed under the grid.

It will be appreciated in the foregoing examples that the load handlingdevice 30 carries sufficient power or other resources to maintain thepower, data, signal or other services required by the bin or container10 to be removed from the fixed supplies provided through the framework14 of the system.

However, it will be appreciated that the load handling device 30 may nothave sufficient of the services required. In this case, in order tomaintain services such as power, data, cooling and any other servicerequired by the removed bin or container 10, the load handling device 30may be provided with such required services via alternative means. Thesemeans may include but not be limited to for example an overheadumbilical connected to the load handling device and transported aroundthe system by virtue of the connection to the load handling devicecapable of carrying the required services to the load handling devicefor connection to the bin or container 10 to be removed. Alternatively,overhead sockets may be provided located above the storage system thatthe load handling device can releasably attach to such that suchservices are transmitted via the load handling device 30 to the bin orcontainer 10 to be removed.

Furthermore, it will be appreciated that the load handling device 30 maybe provided with means for connection to a service being provided viathe framework 14 or to an uppermost bin or container 10 in an adjacentstack 12. In this way the required service is provided through thecomponents of the storage system available in close proximity to theload handling device 30 at the pint when a bin or container 10 is to beremoved from a stack 12.

Moreover, it will be appreciated that additional load handling devices30 operative on the system may form a cluster adjacent the load handlingdevice 30 lifting the target bin or container 10 to then providerequired services to the load handling device 30 that is holding thestack 12 of bins or containers 10 requiring the services.

It will be appreciated from the foregoing that the or each load handlingdevice may be configured to connect to, lift and remove one bin orcontainer 10 from a stack 12. However, it will be appreciated that aload handling device 30 may be configured to connect to, lift and removemore than one bin or container 10 in a single movement.

It will be appreciated that the embodiments described above that theterm bins or containers 10 is used to denote storage containers 10stackable in stacks 12 within a storage system. However, the storagebins or containers 10 may comprise further containing means within thebin or container 10 structure. The containing means may be connected tothe bin or container by any suitable means to allow transfer of power,signal or data between the containing means, the bin or container 10 andthe load handling device 30. This may be particularly the case shouldthe bin or container be required to carry intelligence or calculatingmeans and require cooling.

Many variations and modifications not explicitly described above arealso possible without departing from the scope of the invention asdefined in the appended claims.

1. A storage system comprising: a first set of parallel rails or tracksand a second set of parallel rails or tracks extending transverse to thefirst set in a substantially horizontal plane to form a grid patternhaving a plurality of grid spaces; a plurality of storage containersarranged in stacks, located beneath the rails, each stack being locatedwithin a footprint of a grid space; and at least one load handlingdevice disposed on the grid, arranged to move laterally above the stackson the rails, the load handling device having a lifting device arrangedto lift one or more containers, or parts thereof, from a stack; whereina number of the containers include service means for providing servicesto the or each container, thereby enabling individual containers withinthe stacks to perform additional functions, the lifting device includingreleasably connecting means for connecting a load handling device to acontainer to be lifted, the releasable connecting means being configuredto maintain power, or data or signal or other service to the containerwhen the container is lifted from a stack within the storage system. 2.A storage system according to claim 1, wherein the lifting devicecomprises: means for lifting a lid from a container, a container, or aplurality of containers.
 3. A storage system according to claim 1,wherein at least one of the containers comprises: a power supply meansfor powering services provided by the container.
 4. A storage systemaccording to claim 1, wherein at least one of the containers comprises:power control means for powering services provided by a differentcontainer.
 5. A storage system according to claim 1, wherein at leastone of the containers comprises: sensor means; and data logging meansfor monitoring an output of the sensor means.
 6. A storage systemaccording to claim 1, wherein at least one of the containers comprises:communication means for communicating with adjacent containers or with acentral communications manager.
 7. A storage system according to claim1, wherein at least one of the containers comprises: heating means forheating and controlling a temperature of contents of the containers. 8.A storage system according to claim 1, wherein at least one of thecontainers comprises: cooling means for cooling and controlling atemperature of contents of the containers.
 9. A storage system accordingto claim 1, wherein some or all at least one of the containerscomprises: a reservoir configured to serve as a fluid sink in thecontainer.
 10. A storage system according to claim 1, wherein some orall at least one of the containers comprises: lighting means.
 11. Astorage system according to claim 10, wherein the lighting meanscomprises: a lid removeably attached to the or each container in astack.
 12. A storage system according to claim 1, wherein individualcontainers in a stack are provided with a unique identity, the identitybeing traceable and trackable by sensor and monitoring means.
 13. Astorage system according to claim 12, wherein the containers comprise:intelligence means to allow a topology of the containers to beconstructed as a result of each container having knowledge of theidentity of immediately adjacent containers, and a bottom container inany stack having knowledge that there are no containers below.
 14. Astorage system according to claim 1, wherein the containers comprise:communications means configured for peer to peer communications betweencontainers within the system.
 15. A system according to claim 1, wherethe containers comprise: calculating means, the calculating means beingconfigured for communications between containers to conduct dataintensive calculations may be conducted under the control of controlmeans located externally to the system.
 16. A system according to claim1, in which the lifting device connects to the container via suitableconnecting means, the connecting means being configured to carry powerand or signals between the container and the load handling device, thepower and signal connections being made between the load handling deviceand the container and verified by verification means prior to thecontainer being removed from the stack.
 17. A supercomputer comprising:a storage system according to claim 1; and a plurality of separatecalculating means, each of the calculating means being located in acontainer, the plurality of containers being stored in a storage system,the calculating means being provided with communicating means forproviding communication between separate calculating means therebyenabling data intensive calculations to be carried out under control ofa central utility.
 18. A supercomputer according to claim 16, in whichthe commununication means for communication between the calculatingmeans comprises: wireless communications means.
 19. A method ofmaintaining services to a container within a storage system having aplurality of containers stored in stacks within a framework, theframework being provided with tracks located above the stacks, and loadhandling devices being operable on the tracks, the method comprising:positioning a load handling device above a container to be removed fromthe system; lowering lifting means from the load handling device, thelifting means having connecting means, for releasably connecting to thecontainer, lifting the container from the storage system; andmaintaining a connection of power, or data or signal or other service tothe container via the load handling device.
 20. A method according toclaim 19, in which the service provided is one of power, data, signal,gas, fluid, nutrients, radiation, light or any other service associatedwith content of the container.
 21. A method according to claim 19,comprising: connecting the load handling device to an alternativeservice supply means, said alternative service supply means forming partof the storage system.
 22. A method according to claim 21, comprising:transferring service from the alternative supply to the container viasuitable connecting means.